{
  "episode_000000": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000001": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000002": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000003": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000004": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000005": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000006": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000007": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000008": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000009": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000010": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.005755300852067435,
            -0.8464134495052141,
            -0.5324952103153479
          ],
          [
            0.9999814980437357,
            -0.005920375067463013,
            -0.0013974008969696863
          ],
          [
            -0.001969792453148769,
            -0.5324934005748286,
            0.8464318627402603
          ]
        ],
        "T": [
          0.10367512949540778,
          0.01683553934852588,
          0.06594028443584717
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.038181631925962245,
            0.8572278826005443,
            0.5135197369874481
          ],
          [
            -0.9992620097765331,
            0.034911362663577306,
            0.016019755751448195
          ],
          [
            -0.00419509247028187,
            -0.5137524248596398,
            0.8579282296031563
          ]
        ],
        "T": [
          -0.10762798412191868,
          -0.013562062103127749,
          0.049051257447484724
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6791074862484543,
            -0.37517572032080115,
            -0.6309169525405648
          ],
          [
            0.002875741517028203,
            -0.8581479690926579,
            0.5133943837371752
          ],
          [
            -0.734033209216063,
            -0.3504643234680452,
            -0.5816958017246237
          ]
        ],
        "T": [
          0.14991536474516318,
          0.09680123338424533,
          0.04690787133815604
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7298541750470693,
            0.32498535317262167,
            0.6014128393953931
          ],
          [
            -0.0416393036744359,
            -0.8570010719603367,
            0.513629565979551
          ],
          [
            0.6823335339523265,
            -0.3999170950110788,
            -0.6119536465795665
          ]
        ],
        "T": [
          -0.13006348734804113,
          0.09812929702204981,
          0.06423879582341516
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.78802490234375,
              0,
              321.51458740234375
            ],
            [
              0,
              386.5106506347656,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              644.6466674804688,
              0,
              642.5243530273438
            ],
            [
              0,
              644.1844482421875,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.1125793457031,
              0,
              321.1830139160156
            ],
            [
              0,
              386.8772888183594,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              645.1876220703125,
              0,
              641.9716796875
            ],
            [
              0,
              644.7954711914062,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.32275390625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.0008850097656,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              645.5379638671875,
              0,
              630.8675537109375
            ],
            [
              0,
              645.00146484375,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000011": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000012": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000013": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000014": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000015": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000016": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000017": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000018": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000019": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000020": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000021": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000022": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000023": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000024": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000025": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000026": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000027": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000028": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000029": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000030": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000031": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000032": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000033": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000034": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000035": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000036": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000037": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000038": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000039": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000040": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000041": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000042": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000043": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000044": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000045": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000046": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000047": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000048": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000049": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000050": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000051": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000052": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000053": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000054": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000055": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000056": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000057": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000058": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000059": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000060": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000061": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000062": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000063": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000064": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000065": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000066": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000067": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000068": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000069": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000070": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000071": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000072": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000073": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000074": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000075": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000076": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000077": {
    "camera_ids": {
      "head": "408222301836",
      "left_arm": "419222301220",
      "right_arm": "408222302179",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            0.00796572949332397,
            -0.8573520282330823,
            -0.5146688710600819
          ],
          [
            0.9999664544876627,
            0.007811228939133441,
            0.002464670735331716
          ],
          [
            0.0019071059258321938,
            -0.5146712391294859,
            0.8573854900567814
          ]
        ],
        "T": [
          0.10349868344625678,
          0.013451817081500141,
          0.060491779289421364
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.04003826658895715,
            0.8501632613081377,
            0.5249946345730236
          ],
          [
            -0.9990219722069981,
            0.04392646872220074,
            0.005056124329712747
          ],
          [
            -0.01876262924516708,
            -0.5246836136830543,
            0.8510905176750001
          ]
        ],
        "T": [
          -0.10862374232593972,
          -0.018836354357900455,
          0.0438929640854381
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.6846101573098975,
            -0.3685494518955618,
            -0.6288721921150582
          ],
          [
            0.006441448565477735,
            -0.8596650160086909,
            0.510817548632734
          ],
          [
            -0.7288809506692406,
            -0.3537617302058805,
            -0.5861614095053049
          ]
        ],
        "T": [
          0.15081389536328987,
          0.097174697058716,
          0.04803566509400833
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7391573683265173,
            0.31695334476242915,
            0.5942953492099075
          ],
          [
            -0.04239659429936387,
            -0.8587106715771626,
            0.5107039370430909
          ],
          [
            0.6721970794643728,
            -0.40268667691321364,
            -0.6212845777871527
          ]
        ],
        "T": [
          -0.1355363705840199,
          0.09973311998431836,
          0.06790857073972215
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.2091369628906,
              0,
              321.51458740234375
            ],
            [
              0,
              386.931396484375,
              241.60769653320312
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        },
        "720P": {
          "MTX": [
            [
              645.3485107421875,
              0,
              642.5243530273438
            ],
            [
              0,
              644.8856811523438,
              362.67950439453125
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05152145400643349,
            0.05792848765850067,
            -0.0006614847807213664,
            0.0009310400346294045,
            -0.01792951114475727
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.640380859375,
              0,
              321.1830139160156
            ],
            [
              0,
              387.40472412109375,
              240.17938232421875
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        },
        "720P": {
          "MTX": [
            [
              646.0672607421875,
              0,
              641.9716796875
            ],
            [
              0,
              645.674560546875,
              360.2989807128906
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05115576460957527,
            0.055656932294368744,
            -0.00102313794195652,
            -8.11439094832167e-05,
            -0.017610885202884674
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.85064697265625,
              0,
              314.5205383300781
            ],
            [
              0,
              387.5282897949219,
              242.67874145507812
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        },
        "720P": {
          "MTX": [
            [
              646.417724609375,
              0,
              630.8675537109375
            ],
            [
              0,
              645.8804931640625,
              364.4645690917969
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05201306566596031,
            0.06153294816613197,
            -0.0004618548846337944,
            -0.0009411622886545956,
            -0.020579839125275612
          ]
        }
      }
    }
  },
  "episode_000078": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000079": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000080": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000081": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000082": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000083": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000084": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000085": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000086": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000087": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000088": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000089": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000090": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000091": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000092": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000093": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000094": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000095": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000096": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000097": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000098": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000099": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000100": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000101": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000102": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000103": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000104": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000105": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000106": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000107": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000108": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000109": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000110": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000111": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000112": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000113": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000114": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000115": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000116": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000117": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000118": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000119": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000120": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000121": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000122": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000123": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000124": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000125": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000126": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000127": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000128": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000129": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000130": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000131": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000132": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000133": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000134": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000135": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000136": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000137": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000138": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000139": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000140": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000141": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000142": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000143": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000144": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000145": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000146": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000147": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000148": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000149": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000150": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000151": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000152": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000153": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000154": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000155": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000156": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000157": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000158": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000159": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000160": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000161": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000162": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000163": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000164": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000165": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000166": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000167": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000168": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000169": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000170": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000171": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000172": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000173": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000174": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000175": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000176": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000177": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000178": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000179": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000180": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000181": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000182": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000183": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000184": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000185": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000186": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000187": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000188": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000189": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000190": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000191": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000192": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000193": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000194": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000195": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000196": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000197": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000198": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000199": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.06521024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000200": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000201": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000202": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000203": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000204": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000205": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000206": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000207": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000208": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000209": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000210": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000211": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000212": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000213": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000214": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000215": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000216": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000217": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000218": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000219": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000220": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000221": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000222": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000223": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000224": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000225": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000226": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000227": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000228": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000229": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000230": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000231": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000232": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000233": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000234": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000235": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000236": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000237": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000238": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000239": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000240": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000241": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000242": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000243": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000244": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000245": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000246": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000247": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000248": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000249": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000250": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000251": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000252": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000253": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000254": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000255": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000256": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000257": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000258": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000259": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000260": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000261": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000262": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000263": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000264": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000265": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000266": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000267": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000268": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000269": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000270": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000271": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000272": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000273": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000274": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000275": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000276": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000277": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000278": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000279": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000280": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000281": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000282": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000283": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000284": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000285": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000286": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000287": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000288": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000289": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000290": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000291": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000292": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000293": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000294": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000295": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000296": {
    "camera_ids": {
      "head": "408222301277",
      "left_arm": "419222301213",
      "right_arm": "419222301002",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.016743553507199804,
            -0.8689161167904264,
            -0.49467609139496266
          ],
          [
            0.9998010135703645,
            -0.01991557027299229,
            0.0011416323283685197
          ],
          [
            -0.010843739190113978,
            -0.4945585425837344,
            0.8690766716911857
          ]
        ],
        "T": [
          0.09739551626833805,
          0.01276069765647996,
          0.05640874183645597
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03477334761441009,
            0.8623981661523232,
            0.5050348674228318
          ],
          [
            -0.999361226109602,
            0.03417385460257205,
            0.010454061905071916
          ],
          [
            -0.008243424312760218,
            -0.505075787064389,
            0.8630356280460776
          ]
        ],
        "T": [
          -0.10489481737904346,
          -0.019620035979661103,
          0.05025777728107223
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.703248423432989,
            -0.3980442208472484,
            -0.5890691412636736
          ],
          [
            0.032073570742905115,
            -0.8099663423342331,
            0.5855986768645431
          ],
          [
            -0.710220346793032,
            -0.4307148970442174,
            -0.5568408538041858
          ]
        ],
        "T": [
          0.15433220066671563,
          0.10110141613722247,
          0.05821024330018432
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.7080804114105157,
            0.42665921633804293,
            0.5626580169965784
          ],
          [
            -0.002590832190970767,
            -0.7952421490636747,
            0.6062864108168237
          ],
          [
            0.7061270555397753,
            -0.43075728370672395,
            -0.5619899856477266
          ]
        ],
        "T": [
          -0.1463507104900586,
          0.08812363605175982,
          0.07486623588991291
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              386.0097961425781,
              0,
              320.8765869140625
            ],
            [
              0,
              385.7945251464844,
              241.4390411376953
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        },
        "720P": {
          "MTX": [
            [
              643.349609375,
              0,
              641.4609375
            ],
            [
              0,
              642.9909057617188,
              362.3984069824219
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05252041667699814,
            0.06024623662233353,
            -0.0011130472412332892,
            9.366191079607233e-05,
            -0.017849303781986237
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              387.10595703125,
              0,
              318.70684814453125
            ],
            [
              0,
              386.7840576171875,
              238.19522094726562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        },
        "720P": {
          "MTX": [
            [
              645.176513671875,
              0,
              637.8447875976562
            ],
            [
              0,
              644.64013671875,
              356.9920349121094
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05261499062180519,
            0.059683069586753845,
            -0.0013051970163360238,
            0.0003189635754097253,
            -0.019818032160401344
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              387.5035400390625,
              0,
              320.4174499511719
            ],
            [
              0,
              387.14666748046875,
              240.99942016601562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        },
        "720P": {
          "MTX": [
            [
              645.8392333984375,
              0,
              640.6957397460938
            ],
            [
              0,
              645.2444458007812,
              361.6656799316406
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05125660076737404,
            0.05608956143260002,
            -0.0007217418751679361,
            0.0004821358888875693,
            -0.016534529626369476
          ]
        }
      }
    }
  },
  "episode_000297": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000298": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000299": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000300": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000301": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000302": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000303": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000304": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000305": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000306": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000307": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000308": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000309": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000310": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000311": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000312": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000313": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000314": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000315": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000316": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000317": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000318": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000319": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000320": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000321": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000322": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000323": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000324": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000325": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000326": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000327": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000328": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000329": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000330": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000331": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000332": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000333": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000334": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000335": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000336": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000337": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000338": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000339": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000340": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000341": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000342": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000343": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000344": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000345": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000346": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000347": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000348": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000349": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000350": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000351": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000352": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000353": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000354": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000355": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000356": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000357": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000358": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000359": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000360": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000361": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000362": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000363": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000364": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000365": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000366": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000367": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000368": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000369": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000370": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000371": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000372": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000373": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000374": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000375": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000376": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000377": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000378": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000379": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000380": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000381": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000382": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000383": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000384": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000385": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000386": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000387": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000388": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000389": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000390": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000391": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000392": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000393": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000394": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000395": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000396": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000397": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000398": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000399": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000400": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000401": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000402": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000403": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000404": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000405": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000406": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000407": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000408": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000409": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000410": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000411": {
    "camera_ids": {
      "head": "419122302796",
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.12722644809227757,
            -0.859355800965619,
            -0.4952989382711841
          ],
          [
            0.9918166498627604,
            -0.11557780417604824,
            -0.054235636226133
          ],
          [
            -0.010637855086123018,
            -0.4981459409937838,
            0.8670279450574732
          ]
        ],
        "T": [
          0.10124132719470029,
          0.01216531788705875,
          0.06255086611343687
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.034098917581555366,
            0.8617858355513367,
            0.5061249227837438
          ],
          [
            -0.9994164010123993,
            0.028374334538675994,
            0.019019845606898806
          ],
          [
            0.002030075660971239,
            -0.5064781049389713,
            0.8622504323050464
          ]
        ],
        "T": [
          -0.10152316684694652,
          -0.012640660588424647,
          0.05649687515266679
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7190442719425998,
            -0.4041031156427769,
            -0.5653989802912072
          ],
          [
            -0.0020891582320859163,
            -0.8148187445497952,
            0.5797120396784742
          ],
          [
            -0.6949611287003163,
            -0.4156574135728797,
            -0.5867349862906475
          ]
        ],
        "T": [
          0.15792497028183294,
          0.09327620237937244,
          0.054134565033927294
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6932861623118158,
            0.419628924528438,
            0.5858889509506567
          ],
          [
            0.00634453137279173,
            -0.8165091682679582,
            0.577297605274807
          ],
          [
            0.7206344732724171,
            -0.396515250442494,
            -0.5687368566375068
          ]
        ],
        "T": [
          -0.1354271073145345,
          0.09600398313633648,
          0.06888498870305292
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.406494140625,
              0,
              317.782470703125
            ],
            [
              0,
              386.1346435546875,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.0107421875,
              0,
              636.3041381835938
            ],
            [
              0,
              643.5578002929688,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.22418212890625,
              0,
              320.5686950683594
            ],
            [
              0,
              387.89105224609375,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.040283203125,
              0,
              640.9478149414062
            ],
            [
              0,
              646.485107421875,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000412": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000413": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000414": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000415": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000416": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000417": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000418": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000419": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000420": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000421": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000422": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000423": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000424": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000425": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000426": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000427": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000428": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000429": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000430": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000431": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000432": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000433": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000434": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000435": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000436": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000437": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000438": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000439": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000440": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000441": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000442": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000443": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000444": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000445": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000446": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000447": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000448": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000449": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000450": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000451": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000452": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000453": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000454": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000455": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000456": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000457": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000458": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000459": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000460": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000461": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000462": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000463": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000464": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000465": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000466": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000467": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000468": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000469": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000470": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000471": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000472": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000473": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000474": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000475": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000476": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000477": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000478": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000479": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000480": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000481": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000482": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000483": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000484": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000485": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000486": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000487": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000488": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000489": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000490": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000491": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000492": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000493": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000494": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000495": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000496": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000497": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000498": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000499": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000500": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000501": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000502": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000503": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000504": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000505": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000506": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000507": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000508": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000509": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000510": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000511": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000512": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000513": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000514": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000515": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000516": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000517": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000518": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000519": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000520": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000521": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000522": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000523": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000524": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000525": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000526": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000527": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000528": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000529": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000530": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000531": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000532": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000533": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000534": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000535": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000536": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000537": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000538": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000539": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000540": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000541": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000542": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000543": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000544": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000545": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000546": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000547": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000548": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000549": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000550": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000551": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000552": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000553": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000554": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000555": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000556": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000557": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000558": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000559": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000560": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000561": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000562": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000563": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000564": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000565": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000566": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000567": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000568": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000569": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000570": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000571": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000572": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000573": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000574": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000575": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000576": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000577": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000578": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13356905646952325,
          0.10462197752304546,
          0.06472847551215925
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000579": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000580": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000581": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000582": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000583": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000584": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000585": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000586": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000587": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000588": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000589": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000590": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000591": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000592": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000593": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000594": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000595": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000596": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000597": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000598": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000599": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000600": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000601": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000602": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000603": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000604": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000605": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000606": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000607": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000608": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000609": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000610": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000611": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000612": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000613": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000614": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000615": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000616": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000617": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000618": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000619": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000620": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000621": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000622": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000623": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000624": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000625": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000626": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000627": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000628": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000629": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000630": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000631": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000632": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000633": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000634": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000635": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000636": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000637": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000638": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000639": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000640": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000641": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000642": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000643": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000644": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000645": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000646": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000647": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000648": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000649": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000650": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000651": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000652": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000653": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000654": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000655": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000656": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000657": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000658": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000659": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000660": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000661": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000662": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000663": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000664": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000665": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000666": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000667": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000668": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000669": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000670": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000671": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000672": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000673": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000674": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000675": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000676": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000677": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000678": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000679": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000680": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000681": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000682": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000683": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000684": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000685": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000686": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000687": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000688": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000689": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000690": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000691": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000692": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000693": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000694": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000695": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000696": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000697": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000698": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000699": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000700": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000701": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000702": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000703": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000704": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000705": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000706": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000707": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000708": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000709": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000710": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000711": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000712": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000713": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000714": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000715": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000716": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000717": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000718": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000719": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000720": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000721": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000722": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000723": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000724": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000725": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000726": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000727": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000728": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000729": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000730": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000731": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000732": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000733": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000734": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000735": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000736": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000737": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000738": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000739": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000740": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000741": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000742": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000743": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000744": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000745": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000746": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000747": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000748": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000749": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000750": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000751": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000752": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000753": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000754": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000755": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000756": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000757": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000758": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000759": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000760": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000761": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000762": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000763": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000764": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000765": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000766": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000767": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000768": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000769": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000770": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000771": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000772": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000773": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000774": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000775": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000776": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000777": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000778": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000779": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000780": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000781": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000782": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000783": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000784": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000785": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000786": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000787": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000788": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000789": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000790": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000791": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000792": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000793": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000794": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000795": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000796": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000797": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000798": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000799": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000800": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000801": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000802": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000803": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000804": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000805": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000806": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000807": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000808": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000809": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000810": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000811": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000812": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000813": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000814": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000815": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000816": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000817": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000818": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000819": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000820": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000821": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000822": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000823": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000824": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000825": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000826": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000827": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000828": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000829": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000830": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000831": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000832": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000833": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000834": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000835": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000836": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000837": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000838": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000839": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000840": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000841": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000842": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000843": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000844": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000845": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000846": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000847": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000848": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000849": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000850": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000851": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000852": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000853": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000854": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000855": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000856": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  },
  "episode_000857": {
    "device_type": "RS-02",
    "camera_types": {
      "head": "D457",
      "other_head": 0,
      "left_arm": "D457",
      "right_arm": "D457"
    },
    "camera_ids": {
      "head": "419122302796",
      "other_head": 0,
      "left_arm": "419222301215",
      "right_arm": "408222302022",
      "foot": ""
    },
    "hand_eye": {
      "left_arm_in_eye": {
        "R": [
          [
            -0.1300748581461646,
            -0.8592013699726617,
            -0.4948267748569761
          ],
          [
            0.9914988927764435,
            -0.11108830609957132,
            -0.06774462245089743
          ],
          [
            0.0032368041865163517,
            -0.4994320715422963,
            0.8663470026574969
          ]
        ],
        "T": [
          0.10233785288295448,
          0.029295110904777988,
          0.050973189087678145
        ]
      },
      "right_arm_in_eye": {
        "R": [
          [
            0.03327120488777857,
            0.8657834698728182,
            0.4993115362379465
          ],
          [
            -0.9993755710622891,
            0.022873600760788815,
            0.02693076961691629
          ],
          [
            0.011895162430116278,
            -0.49989577081949665,
            0.8660038818778715
          ]
        ],
        "T": [
          -0.09802314396367189,
          -0.014716348127840714,
          0.05705823470332327
        ]
      },
      "left_arm_to_eye": {
        "R": [
          [
            0.7208661209949478,
            -0.3963663526774869,
            -0.5685470517616317
          ],
          [
            0.003848358572095715,
            -0.818024462626743,
            0.5751705561661941
          ],
          [
            -0.6930636520104038,
            -0.4168089406543177,
            -0.5881607614017001
          ]
        ],
        "T": [
          0.15630480449015244,
          0.09505484338672551,
          0.054508029439334006
        ]
      },
      "right_arm_to_eye": {
        "R": [
          [
            0.6602491268443131,
            0.40816703189865333,
            0.6304528250173564
          ],
          [
            -0.02347713062747348,
            -0.8278055859535294,
            0.5605236268005431
          ],
          [
            0.7506796352897969,
            -0.3848864584980585,
            -0.5369753245969502
          ]
        ],
        "T": [
          -0.13008524357877507,
          0.09741244726642281,
          0.06495422730612346
        ]
      }
    },
    "camera_parameters": {
      "head": {
        "480P": {
          "MTX": [
            [
              387.89703369140625,
              0,
              320.7030944824219
            ],
            [
              0,
              387.7250061035156,
              241.73263549804688
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        },
        "720P": {
          "MTX": [
            [
              646.4950561523438,
              0,
              641.1718139648438
            ],
            [
              0,
              646.2083740234375,
              362.8877258300781
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05110669881105423,
            0.05670415237545967,
            -0.0008578780689276755,
            -0.0005289369146339595,
            -0.01861964724957943
          ]
        }
      },
      "left_arm": {
        "480P": {
          "MTX": [
            [
              386.6171875,
              0,
              317.782470703125
            ],
            [
              0,
              386.3451843261719,
              239.4825897216797
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        },
        "720P": {
          "MTX": [
            [
              644.3619384765625,
              0,
              636.3041381835938
            ],
            [
              0,
              643.90869140625,
              359.13763427734375
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05297579988837242,
            0.06088263541460037,
            -0.0013044351944699883,
            0.00017536240920890123,
            -0.02010100893676281
          ]
        }
      },
      "right_arm": {
        "480P": {
          "MTX": [
            [
              388.54156494140625,
              0,
              320.5686950683594
            ],
            [
              0,
              388.2082214355469,
              244.97402954101562
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        },
        "720P": {
          "MTX": [
            [
              647.5692749023438,
              0,
              640.9478149414062
            ],
            [
              0,
              647.0137329101562,
              368.2900390625
            ],
            [
              0,
              0,
              1
            ]
          ],
          "DIST": [
            -0.05166330188512802,
            0.05847695469856262,
            -0.00039954789099283516,
            0.00033494061790406704,
            -0.01881149597465992
          ]
        }
      }
    }
  }
}